Flatness and small-time controllability of multibody mobile robots: application to motion planning
- 1 October 2000
- journal article
- Published by Institute of Electrical and Electronics Engineers (IEEE) in IEEE Transactions on Automatic Control
- Vol. 45 (10) , 1878-1881
- https://doi.org/10.1109/tac.2000.880989
Abstract
Most nonholonomic path planning algorithms in the presence of obstacles use a local planner, that is, a method returning feasible paths between pairs of configurations without taking obstacles into account. To ensure convergence of the global method, however, the local planner has to account for small-time controllability: the length of the path joining two configurations has to tend toward zero with the distance between these configurations. We present such a local method for a robot towing n trailers, based on differential flatness and significantly more efficienct than former methods.Keywords
This publication has 8 references indexed in Scilit:
- Guidelines in nonholonomic motion planning for mobile robotsPublished by Springer Nature ,2006
- Conversion of the kinematics of a car with n trailers into a chained formPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2002
- Limits of highly oscillatory controls and the approximation of general paths by admissible trajectoriesPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2002
- Motion planning and control for Hilare pulling a trailer: experimental issuesPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2002
- Topological property for collision-free nonholonomic motion planning: the case of sinusoidal inputs for chained form systemsIEEE Transactions on Robotics and Automation, 1998
- Developments in nonholonomic control problemsIEEE Control Systems, 1995
- Trajectory generation for the N-trailer problem using Goursat normal formIEEE Transactions on Automatic Control, 1995
- Controllability of a multibody mobile robotIEEE Transactions on Robotics and Automation, 1993